MultiContactController

Humanoid multi-contact motion controller

HRP5P-MCC-TableWithTiltBlocks-20230220-2-cut.mp4

MultiContactController-MotionSampleField-20230213.mp4

MultiContactController-MotionSampleStepladder-20230327-x2.mp4

Features

• Completely open source! (controller framework: mc_rtc, simulator: Choreonoid, sample robot model: JVRC1)
• Unified control of bipedal walking, multi-contact locomotion including surface/grasp contacts, and jumping motion.
• Easy to switch between centroidal trajectory generation methods implemented in CentroidalControlCollection.
• Automated management with CI: Dynamics simulation is run on CI to verify multi-contact motion.

Technical details

This controller integrates the following elements related to humanoid multi-contact motion:

• Centroidal trajectory generation based on MPC
• Feedback based on centroidal state
• Wrench distribution
• Damping control in limbs

For more information on the technical details, please see the following papers:

• Papers listed in CentroidalControlCollection
• Papers listed in ForceControlCollection
• M. Murooka, et al., "Centroidal trajectory generation and stabilization based on preview control for humanoid multi-contact motion", IEEE Robotics and Automation Letters, 2022. 10.1109/LRA.2022.3186515 (available here)
• M. Murooka, et al., "Whole-body multi-contact motion control for humanoid robots based on distributed tactile sensors", IEEE Robotics and Automation Letters, 2024. 10.1109/LRA.2024.3475052 (available here)

Install

Requirements

• Compiler supporting C++17
• Tested with Ubuntu 20.04 / ROS Noetic and Ubuntu 18.04 / ROS Melodic

Dependencies

This package depends on

• mc_rtc

This package also depends on the following packages. However, manual installation is unnecessary when this package is installed using wstool as described in Controller installation.

• QpSolverCollection
• ForceControlCollection
• TrajectoryCollection
• NMPC
• CentroidalControlCollection
• BaselineWalkingController

Preparation

1. (Skip if ROS is already installed.) Install ROS. See here for details.

$ export ROS_DISTRO=melodic
$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
$ wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
$ sudo apt-get update
$ sudo apt-get install ros-${ROS_DISTRO}-ros-base python-catkin-tools python-rosdep

2. (Skip if mc_rtc is already installed.) Install mc_rtc. See here for details.

$ curl -1sLf 'https://dl.cloudsmith.io/public/mc-rtc/stable/setup.deb.sh' | sudo -E bash
$ sudo apt-get install libmc-rtc-dev mc-rtc-utils mc-state-observation jvrc-choreonoid libcnoid-dev ros-${ROS_DISTRO}-mc-rtc-plugin ros-${ROS_DISTRO}-mc-rtc-rviz-panel libeigen-qld-dev

Controller installation

1. Setup catkin workspace.

$ mkdir -p ~/ros/ws_mcc/src
$ cd ~/ros/ws_mcc
$ wstool init src
$ wstool set -t src isri-aist/MultiContactController https://github.com/isri-aist/MultiContactController --git -y
$ wstool update -t src isri-aist/MultiContactController
$ wstool merge -t src src/isri-aist/MultiContactController/depends.rosinstall
$ wstool update -t src

2. Install dependent packages.

$ source /opt/ros/${ROS_DISTRO}/setup.bash
$ rosdep install -y -r --from-paths src --ignore-src

3. Build a package.

$ catkin build multi_contact_controller -DCMAKE_BUILD_TYPE=RelWithDebInfo -DENABLE_QLD=ON --catkin-make-args all tests

4. Setup controller

$ mkdir -p ~/.config/mc_rtc/controllers
$ cp ~/ros/ws_mcc/src/isri-aist/MultiContactController/etc/mc_rtc.yaml ~/.config/mc_rtc/mc_rtc.yaml

5. Setup motion configuration file (optional)

$ roscd multi_contact_controller
$ cd .github/workflows
$ python ./scripts/mergeConfigs.py ./config/MotionSampleField.yaml ./config/DDP.yaml > ~/.config/mc_rtc/controllers/MultiContactController.yaml

Simulation execution

# Terminal 1
$ source ~/ros/ws_mcc/devel/setup.bash
$ roscore
# Terminal 2
$ source ~/ros/ws_mcc/devel/setup.bash
$ roscd multi_contact_controller/cnoid/project/
$ /usr/share/hrpsys/samples/JVRC1/clear-omninames.sh
$ choreonoid MCC_JVRC1_SampleField.cnoid --start-simulation
# Terminal 3
$ source ~/ros/ws_mcc/devel/setup.bash
$ roslaunch multi_contact_controller display.launch